Update deadman operation to better align with upstream OpenZFS

The deadman in ZoL didn't behave quite as it did in upstream
OpenZFS.  In addition to the 2 purposes for which OpenZFS used the
zfs_deadman_synctime_ms parameter, ZoL also used it to determine how
frequently the deadman would fire once it has been triggered.

This patch adds the zfs_deadman_checktime_ms parameter to control how
frequently the subsequent checks are performed.

The deadman is now disabled for suspended pools.

As had been the case, unlike upstream OpenZFS, ZoL will not panic when
a hung IO is detected.

The module parameter documentation has been upated to include the new
parameter and to better describe the operation of the deadmen.
    
Reviewed-by: Brian Behlendorf <[email protected]>
Reviewed-by: George Melikov <[email protected]>
Signed-off-by: Tim Chase <[email protected]>
Closes #5695 

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